A new genus and species of Loricifera, Scaberiloricus samba gen. et sp. nov., is described from the continental shelf and slope off Rio de Janeiro, Brazil. Adult morphology remains unknown for the new entity, but information is available from three different Higgins larval instars. The Higgins larva of the new species is characterised by a bulbous head and a slender, elongate trunk, separated by a constriction behind the head. The cuticle of the thorax and the posterior part of the head is characterised by numerous longitudinal zigzag folds. The new species and genus shows greatest morphological resemblance with Wataloricus japonicus, and a phylogenetic analysis based on Higgins larval morphological characters suggests that Scaberiloricus gen. nov., Wataloricus, Tenuiloricus, and Patuloricus form a monophyletic group within Pliciloricidae. The analysis furthermore suggests that the Higgins larvae of Scaberiloricus gen. nov. and Wataloricus represent transitional, evolutionary stages towards the highly aberrant Shira larvae, found in species of Tenuiloricus and Patuloricus.